Reuse expansion method of T / R assembly screw screwing system

Abstract

The invention discloses a multiplexing expansion method for a T / R assembly screw screwing system. The method comprises the steps that an assembly point location function is obtained according to the type of a T / R assembly and the size of a pin; the coordinates of the assembly point positions are stored in a locking coordinate setting interface in a teaching mode; selecting the type of the current T / R assembly and the size of a pin according to the coordinates in the locking coordinate setting interface, and obtaining a function value of the current assembly point location; controlling a pin gun to move to the current assembly point position for locking through the function value; whether the locking parameters measured in the locking process are within a preset range or not is judged, and if the locking parameters are within the preset range, the next assembly point position is assembled; if the locking parameter is not within the preset range, displaying a window containing prompt information, and reassembling the assembly point location in response to a window rehitting operation, or assembling the next assembly point location in response to a window skipping operation; and until the point position index of the single assembly reaches the maximum value of the point position of the single assembly.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and more specifically, to a reuse and expansion method of a T / R component screwing system. Background Art

[0002] In the integration of radar antenna arrays, a large number of T / R components are connected to the antenna frame through positioning pins, and the tightening of T / R components and positioning pins occupies a large part of the antenna array integration work. At present, manual assembly is mainly used, which has problems such as low assembly efficiency, high labor cost, and poor quality consistency.

[0003] The public text with application number 202210203689.2 and titled “A T / R component nailing system and method” discloses the structure and implementation method of a T / R component automatic nailing system, which solves the problems of labor cost and nailing consistency. However, this patent application only supports the assembly process of one T / R component and locating pin, and cannot realize the reuse assembly of multiple T / R components and multiple locating pins. Summary of the invention

[0004] The present invention provides a reuse and expansion method of a T / R component screwing system to solve at least one of the problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention provides a multiplexing and expansion method of a T / R component screwing system, the method comprising:

[0007] Determine the type of the T / R component and the size of the pin, and obtain the assembly point function according to the type of the T / R component and the size of the pin;

[0008] The coordinates of the assembly points are saved in the lock coordinate setting interface by teaching;

[0009] Select the current T / R component type and the size of the pin according to the coordinates in the locking coordinate setting interface, and obtain the function value of the current assembly point;

[0010] The function value is used to control the pin gun to move to the current assembly point for locking;

[0011] Determine whether the locking parameters measured during the locking process are within the preset range. If the locking parameters are within the preset range, assemble the next assembly point; if the locking parameters are not within the preset range, display a window containing prompt information, re-assemble the assembly point in response to the re-click operation of the window, or assemble the next assembly point in response to the skip operation of the window; until the point index of a single assembly reaches the maximum number of single assembly points.

[0012] Optionally, the assembly point function is

[0013] C i,j,k =f(a i ,b j )+d k ,

[0014] Among them, C i,j,k is the function value of the assembly point, a i For T / R component type, b j is the size of the pin, i is the T / R component type index, j is the size index of the pin, k is the point index of a single assembly, and d k Count of assemblies for a single run.

[0015] Optionally, the step of saving the coordinates of the assembly points in the lock coordinate setting interface by teaching includes:

[0016] The T / R assembly is fixed on the turntable, and the pin gun is moved to the locking points respectively through the three-axis linear module to obtain the coordinates corresponding to the locking points, and the coordinate sequence is saved in the locking point setting interface.

[0017] Optionally, the locking parameters include a sliding time, a floating time and a torque of a nail gun during the locking process.

[0018] Optionally, the reassembling of the point in response to the re-opening operation of the window includes:

[0019] The function value is used again to control the pin gun to move to the corresponding point for locking, and the locking result is obtained according to the locking parameters in the re-locking process.

[0020] Optionally, if the locking parameters during the re-locking process are within a preset range, it is determined that the point is re-locked successfully, and the next assembly point is locked;

[0021] If the locking parameters during the re-locking process are not within the preset range, it is determined that the re-locking of the point has failed, a window containing prompt information is displayed, and the next assembly point is locked in response to a skip operation in the window.

[0022] Optionally, locking the next assembly point includes:

[0023] Obtaining a function value of a next assembly point, controlling the pin gun to move to the next assembly point for locking according to the function value of the next assembly point, and obtaining a locking result according to the locking parameters;

[0024] The next assembly point function is

[0025] C i,j,k+1=f(a i ,b j )+d k+1 ,

[0026] Among them, C i,j,k+1 is the function value of the next assembly point.

[0027] Optionally, the method further comprises recording error information indicating failure to re-lock the point.

[0028] A second aspect of the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect of the present invention when executing the program.

[0029] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect of the present invention.

[0030] The beneficial effects of the present invention are as follows:

[0031] The present invention provides a reuse and expansion method for a T / R component screwing system. The method obtains the function value of the current assembly point through the T / R component type, the size of the pin and the point index of a single assembly, and controls the pin gun to assemble the assembly point according to the function value, thereby realizing the reuse and expansion of multiple T / R components and multiple locating pins. The present invention can select different T / R components and pin sizes, thereby solving the problem of a single assembly object of the T / R component screwing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0033] Figure 1 A flow chart showing the reuse and expansion method of the T / R component screwing system of the present invention;

[0034] Figure 2 A schematic diagram of a T / R assembly screwing platform in an embodiment of the present invention is shown;

[0035] Figure 3 A schematic diagram showing a locking coordinate setting interface in an embodiment of the present invention;

[0036] Figure 4 A schematic diagram showing an operation panel interface in an embodiment of the present invention;

[0037] Figure 5 A schematic diagram showing an automatic interface in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a multiplexing algorithm in an embodiment of the present invention is shown;

[0039] Figure 7 A schematic diagram showing an algorithm for determining a locking result in an embodiment of the present invention;

[0040] Figure 8 A schematic diagram showing a window including prompt information and re-typing and skipping operations in an embodiment of the present invention;

[0041] Fig. 9 A schematic diagram showing the structure of a computer device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0043] The first aspect of the present invention provides a reuse and expansion method of a T / R component screwing system to solve the problem of a single assembly object of the existing T / R component screwing system, and realize the reuse and expansion of the T / R component screwing system to assemble multiple T / R components and multiple locating pins. Figure 1 A flowchart of a method for reusing and expanding a T / R component screwing system, the method comprising:

[0044] Determine the type of the T / R component and the size of the pin, and obtain the assembly point function according to the type of the T / R component and the size of the pin;

[0045] Define T / R component type variable a according to the needs of array assembly i The size variable b of the pin j , determine the assembly point function C based on two type variables i,j,k =f(a i ,b j )+d k The maximum number of assembly points C max =i max j max k max ;

[0046] Where i is the T / R component type index, j is the pin size index, k is the single assembly point index, and d k is the assembly count of a single run, i max is the type used for the current array assembly, j max The maximum number of pins used in the current array assembly, k max The number of points for a single assembly.

[0047] The coordinates of the assembly points are saved in the lock coordinate setting interface by teaching;

[0048] Figure 3 This is a schematic diagram of the locking coordinate setting interface. The T / R components to be assembled are fixed on the turntable, and the pin gun is moved to the locking points through the three-axis linear module. The coordinates of each locking point are recorded and saved in sequence, and the results are displayed in the locking coordinate setting interface. Figure 2 X, Y and Z represent the positions of the three-axis linear module respectively; R represents the rotation angle of the turntable.

[0049] Select the current T / R component type and pin size according to the coordinates in the locking coordinate setting interface, and obtain the function value of the current assembly point;

[0050] Take d k =k-1, a i =i-1, b j =j, get the function value C of the assembly point i,j,k , the function value is Figure 3 The number of steps in the lock coordinate setting interface determines the current lock point;

[0051] Select T / R component type a in the lock coordinate setting interface i Dimension b of the pin j , in order to obtain the function value C of the assembly point i,j,k , get the starting assembly point variable under the current assembly object.

[0052] Controlling the pin gun to move to the current assembly point for locking by the function value includes taking the function value of the assembly point as the input of the locking Z-axis motion program, and controlling the pin gun to move to the corresponding point for locking;

[0053] Determine whether the locking parameters measured during the locking process are within the preset range.

[0054] If the locking parameters are within the preset range, the point is determined to be locked successfully, and the next assembly point is automatically assembled;

[0055] If the locking parameter is not within the preset range, the point is determined to have failed to be locked, and a window containing a prompt message is displayed. The assembly point is reassembled in response to a re-click operation in the window, or the next assembly point is assembled in response to a skip operation in the window; until the point index of a single assembly reaches the maximum number of single assembly points, Figure 8 A schematic diagram of a window containing prompt information.

[0056] If the locking of the assembly point fails, a re-hitting operation is first performed to eliminate random errors in the locking process, and the assembly point is re-locked in response to the re-hitting operation in the window, and the pin gun is controlled to move to the corresponding assembly point for assembly again through the function value of the assembly point, and the locking result is judged according to the locking parameters in the re-locking process: if the locking parameters in the re-locking process are within the preset range, it is determined that the point is re-locked successfully, and the next assembly point is locked;

[0057] If the locking parameters during the re-locking process are not within the preset range, it is determined that the re-locking of the point has failed, a window containing prompt information is displayed, the locking error information is recorded, and the next assembly point is locked in response to the skip operation in the window.

[0058] Locking the next assembly point includes

[0059] Obtaining a function value of a next assembly point, controlling the pin gun to move to the next assembly point for locking according to the function value of the next assembly point, and obtaining a locking result according to the locking parameters;

[0060] The next assembly point function is

[0061] C i,j,k+1 =f(a i ,b j )+d k+1 ,

[0062] Among them, C i,j,k+1 is the function value of the next assembly point.

[0063] In a specific embodiment, Figure 2 Schematic diagram of the T / R component screwing platform in this embodiment. In this embodiment, 4 types of T / R components and 2 sizes of pins are set, and 2 points are assembled each time, that is, the type i used for the current array assembly max =4, the maximum number of pins j used in the current array assembly max =2, the number of points for a single assembly k max =2, then T / R component type a i ∈{0,1,2,3}, the size of the pin is b j ∈{1,2}, the assembly count d of a single run k ∈{0,1}, the maximum number of assembly points C max =i max j max k max =16, in this embodiment, k=0 is initially set, and 2 points are assembled each time. After the assembly point is locked, k=k+1 is set. The function of obtaining the current assembly point according to the above parameters is C i,j,k =f(ai ,b j )+d k =4a i +b j +d k ;

[0064] The coordinates of the locking points are set in the upper computer by teaching, that is, the T / R assembly is fixed on the turntable, and the pin gun is moved to the locking points through the three-axis linear module to obtain the coordinates corresponding to the locking points [X i,j,k Y i,j,k Z i,j,k R i,j,k ] to save the coordinate sequence in the lock point setting interface.

[0065] Figure 4 This is a schematic diagram of the startup operation panel interface. In response to the operation of the display panel, corresponding startup, reset and emergency stop functions are implemented, which is suitable for different scenarios.

[0066] Figure 5 This is a schematic diagram of the automatic interface in this embodiment. In response to the four buttons on the right side of the automatic interface, the functions of starting, resetting the system, pausing, and releasing the cart electromagnet are realized respectively; in the T / R component type, component A1 corresponds to i=1, component A2 corresponds to i=2, component B1 corresponds to i=3, component B2 corresponds to i=4, and the small screw in the pin size corresponds to j=1, and the large screw corresponds to j=2. Select the T / R component type a to be assembled according to the coordinates in the locking coordinate setting interface i and the pin size b j In this embodiment, the T / R component type is set to component A2, and the size of the pin is a large screw, that is, i=2, j=2, then a2=1, b2=2, and the automatic process is started. When the automatic process is run for the first time, the single assembly point index k=0, and the assembly point count d k =0, get the function value C of the current assembly point 2,2,1 =4a2+b2+d k =6; Figure 6 Partial schematic diagram of the multiplexing algorithm.

[0067] The function value of the current assembly point is used as the input of the locking Z-axis motion program to control the pin gun to move to the sixth point for locking. Figure 7 It is a schematic diagram of the algorithm judgment of the locking result;

[0068] The locking parameters in the locking process are obtained, and the locking parameters include the torque, sliding time and floating time of the pin gun. Whether the locking is successful is determined according to the locking parameters in the locking process: if the locking parameters are within the preset range, it is determined that the locking is successful, and the next assembly point (i.e., the 7th assembly point) is locked; if the locking parameters are not within the preset range, it is determined that the locking fails, and a window containing prompt information is displayed. In response to the re-hit operation of the window, the pin gun is controlled to return to the 6th assembly point for the second locking. Whether the second locking is successful is determined according to the locking parameters in the second locking process: if the locking parameters in the second locking process are within the preset range, the second locking is determined to be successful, and the next assembly point is locked; if the locking parameters in the second locking process are not within the preset range, the second locking is determined to be unsuccessful, and a window containing prompt information is displayed to record information such as the cause and result of the locking failure. In response to the skip operation of the window, the pin gun is controlled to move to the 7th assembly point to obtain the function value C of the 7th assembly point. 2,2,2 , C 2,2,2 The value of is used as the input of the locking Z-axis motion program to control the pin gun to move to the 7th assembly point, lock the 7th assembly point, and determine the locking result based on the locking parameters. Figure 8 This is a schematic diagram of the re-entry and skip operation interface in the prompt information window of this embodiment. If the locking parameters are not within the preset range, a prompt information window will pop up, displaying the message "Product locking failed", prompting the user to perform subsequent re-entry or skip operations.

[0069] The reuse and expansion method of the T / R component screwing system provided by the present invention realizes full-automatic operation by designing a reuse and expansion algorithm in the PLC, and starts and stops the assembly process of the T / R components and the positioning pins with one button. "Start", "System Reset" and "Pause" buttons are set in the automatic interface, and an "Emergency Stop" button is set on the operation panel interface, which can realize the corresponding functions with one button to meet the needs of different scenarios; through the reusable expansion algorithm, it is compatible with different T / R components and positioning pins, and the sizes of different types of T / R components and pins corresponding to the coordinates are selected in the locking coordinate setting interface. After the antenna array is replaced, components and pin models can continue to be added for assembly, which solves the problem of a single assembly object of the T / R component screwing system.

[0070] like Fig. 9 As shown, the second embodiment of the present invention provides a computer device, it can be understood that, Fig. 9 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0071] like Fig. 9As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0072] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0073] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0074] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig. 9 not shown, usually called a "hard drive"). Although Fig. 9 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0075] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0076] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Fig. 9 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0077] The processor unit 16 executes the programs stored in the system memory 28 to perform various functional applications and data processing, such as implementing the method provided in the first embodiment of the present invention.

[0078] A third embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the first embodiment is implemented.

[0079] In practical applications, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0080] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0081] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0082] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0083] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0084] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0085] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A reuse and expansion method of a T / R component screwing system, characterized in that: The method includes Determine the type of the T / R component and the size of the pin, and obtain the assembly point function according to the type of the T / R component and the size of the pin; The coordinates of the assembly points are saved in the lock coordinate setting interface by teaching; Select the current T / R component type and the size of the pin according to the coordinates in the locking coordinate setting interface, and obtain the function value of the current assembly point; The function value is used to control the pin gun to move to the current assembly point for locking; Determine whether the locking parameters measured during the locking process are within a preset range. If the locking parameters are within the preset range, assemble the next assembly point; If the locking parameters are not within the preset range, a window containing prompt information is displayed, and the assembly point is reassembled in response to the re-click operation of the window, or the next assembly point is assembled in response to the skip operation of the window; until the point index of a single assembly reaches the maximum number of single assembly points.

2. The method according to claim 1, characterized in that The assembly point function is C i,j,k =f(a i ,b j )+d k , Among them, C i,j,k is the function value of the assembly point, a i For T / R component type, b j is the size of the pin, i is the T / R component type index, j is the size index of the pin, k is the point index of a single assembly, and d k Count of assemblies for a single run.

3. The method according to claim 1, characterized in that The method of saving the coordinates of the assembly point in the lock coordinate setting interface by teaching includes: The T / R assembly is fixed on the turntable, and the pin gun is moved to the locking points respectively through the three-axis linear module to obtain the coordinates corresponding to the locking points, and the coordinate sequence is saved in the locking point setting interface.

4. The method according to claim 1, characterized in that: The locking parameters include the sliding time, floating time and torque of the nail gun during the locking process.

5. The method according to claim 1, characterized in that: The re-assembly of the point in response to the re-opening operation of the window includes: The function value is used again to control the pin gun to move to the corresponding point for locking, and the locking result is obtained according to the locking parameters in the re-locking process.

6. The method according to claim 5, characterized in that If the locking parameters during the re-locking process are within the preset range, the point is determined to be re-locked successfully, and the next assembly point is locked; If the locking parameters during the re-locking process are not within the preset range, it is determined that the re-locking of the point has failed, a window containing prompt information is displayed, and the next assembly point is locked in response to a skip operation in the window.

7. The method according to claim 1, characterized in that The locking of the next assembly point includes Obtaining a function value of a next assembly point, controlling the pin gun to move to the next assembly point for locking according to the function value of the next assembly point, and obtaining a locking result according to the locking parameters; The next assembly point function is C i,j,k+1 =f(a i ,b j )+d k+1 , Among them, C i,j,k+1 is the function value of the next assembly point.

8. The method according to claim 6, characterized in that The method further comprises Record the error message of the point re-lock failure.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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